We have selected several state-of-the-art foraging swarm control algorithms
(\(\kappa \) ), summarized briefly here, for analysis in our two
scenarios [1]}, [2]}. We include intuitions about how each
controller will perform in terms of scalability, self-organization, flexibility, and
robustness, based solely on their technical descriptions, so that we can determine to
what extent our intuitions are embodied by the results of our two scenarios.
